CN102672475A - Parallel driven bidirectional deflection platform - Google Patents
Parallel driven bidirectional deflection platform Download PDFInfo
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- CN102672475A CN102672475A CN2012101507495A CN201210150749A CN102672475A CN 102672475 A CN102672475 A CN 102672475A CN 2012101507495 A CN2012101507495 A CN 2012101507495A CN 201210150749 A CN201210150749 A CN 201210150749A CN 102672475 A CN102672475 A CN 102672475A
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Abstract
The invention discloses a parallel driven bidirectional deflection platform, which comprises a pedestal and a bidirectional deflection platform, wherein the pedestal is provided with a track a and a track b; a circular arc driving arch a and a circular arc driving arch b which are matched with the track a and the track b are arranged in the track a and the track b respectively; two ends of the driving arch a and the driving arch b are provided with connecting holes; a lateral surface of the bidirectional deflection platform is fixedly connected with four turning pairs at equal interval; the external diameter of the turning pairs is matched with the internal diameter of the connecting holes; and the bidirectional deflection platform is connected the track a and the track b through the four turning pairs and the four connecting holes. Parallel in the two-driving-arch made deflection movement through the crosswise staggered and centrally overlapped circular arc tracks in space; a power source of the two driving arches is fixedly connected to a basic part; bearing force is directly transferred to the basic part; two deflection movements are not coupled; the vibration is small; movement error is not accumulated; the moment of inertia is small; and both speed and accuracy are improved.
Description
Technical field
The invention belongs to mechanical engineering technical field, relate to a kind of parallel connection and drive the bilateral deflection platform.
Background technology
Double swing head on the planer-type 5-shaft linkage numerical control lathe, gondola, ship-board antenna azimuth pitch mechanism on taking photo by plane all are typical two degree-of-freedom motion platforms.Be characterized in that two gyrations adopt stacked structure; The upper strata is the deflection platform, and lower floor is a panoramic table, and upper strata deflection platform and power source place on the panoramic table; Cause in the upper strata deflection platform offset error and comprise lower floor's panoramic table error; And lower floor's panoramic table inertia comprises the inertia of upper strata deflection platform and power source, and whole flat rigidity is low, bearing capacity or to carry quality little, and speed of gyration can not be too high.
Summary of the invention
The purpose of this invention is to provide a kind of parallel connection and drive the bilateral deflection platform, solved the problem that the kinematic error that exists in the prior art adds up, speed of gyration is low.
The technical scheme that the present invention adopted is that a kind of parallel connection drives the bilateral deflection platform, comprises base and bilateral deflection platform; Base upper surface is provided with track a and the track b that radius is respectively the circular arc of R1 and R2, track a and track b vertical with the residing plane of base upper surface respectively along the plane of living in of circular arc, track a and track b vertical each other along the plane of living in of circular arc; Track a and track b overlap along the center of circle of circular arc; And R1＞R2, the bottom surface of track a is higher than the top edge of track b
Track a and track b encircle a with the circular arc driving that adapts respectively and encircle b component movement pair with driving, and driving arch a all has pin shaft hole with the two ends that b is encircleed in driving,
Bilateral deflection platform side surface is equally spaced to be connected with 4 bearing pins that adapt with pin shaft hole, and the bilateral deflection platform is through 4 bearing pins, 4 connecting holes and drive arch a and encircle b and be connected with driving, and the interior circular diameter of b is encircleed in the circumscribed circle diameter of bilateral deflection platform≤driving.
Characteristics of the present invention also are,
Wherein base upper surface is crosswise and is respectively arranged with 1 couple of boss a and 1 couple of boss b, and 2 boss a are on the same straight line, and 2 boss b are on the same straight line, and track a and track b are separately positioned on boss a and boss b upper surface.
The invention has the beneficial effects as follows that positive cross is staggered through spatially being, the arc-shaped rail realization two of center of circle coincidence drives the parallelly connected drives platform of arch and does yaw motion, two drive the power source that encircles is fixed on basic part; Bearing capacity is directly passed to basic part; Two yaw motions are not coupled, and vibrate for a short time, and kinematic error does not add up; Rotary inertia is little, and speed and precision all are improved.
Description of drawings
Fig. 1 is the structural representation that a kind of parallel connection of the present invention drives the bilateral deflection platform.
Among the figure, 1. base, 2. track a, 3. track b 4. drives arch a, 5. drives arch b, 6. pin shaft hole, 7. bilateral deflection platform, 8. bearing pin, 9. boss a, 10. boss b.
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is elaborated.
The present invention provides a kind of parallel connection to drive the bilateral deflection platform; As shown in Figure 1, comprise base 1 and bilateral deflection platform 7, base 1 upper surface is provided with track a2 and the track b3 that radius is respectively the circular arc of R1 and R2; Track a2 and track b3 vertical with the residing plane of base 1 upper surface respectively along the plane of living in of circular arc; Track a2 and track b3 vertical each other along the plane of living in of circular arc, track a2 and track b3 overlap and R1＞R2 along the center of circle of circular arc; The bottom surface of track a2 is higher than the top edge of track b3; Track a2 and track b3 drive arch a4 with the circular arc that adapts respectively and to drive arch b5 component movement secondary, drives arch a4 and all has pin shaft hole 6 with the two ends that drive arch b5, and bilateral deflection platform 7 side surfaces are equally spaced to be connected with 4 bearing pins 8 that adapt with pin shaft hole 6; Bilateral deflection platform 7 is connected with driving arch b5 with driving arch a4 through 8,4 connecting holes 6 of 4 bearing pins, the interior circular diameter of the circumscribed circle diameter of bilateral deflection platform 7≤driving arch b5.
Wherein base 1 upper surface can also be crosswise and is respectively arranged with 1 couple of boss a9 and 1 couple of boss b10, and 2 boss a9 are on the same straight line, and 2 boss b10 are on the same straight line, and track a2 and track b3 are separately positioned on boss a9 and boss b10 upper surface.
Have on the base 1 and spatially be positive cross arc-shaped rail a2 and track b3 staggered, that the center of circle overlaps, radius is respectively R1 and R2, arc-shaped rail also can be on same base, and cross is staggered, the center of circle overlaps as long as spatially be.
Driving arch a4 is respectively R1 and R2 with the radius of the arc orbit face of driving arch b5, the circular arc center of circle coincidence on driving arch a4 and driving arch b5 institute edge, and two power sources drive arch a4 respectively and make yaw motion along track a2 and track b3 track respectively with driving arch b5.
The arc surface of two driving arches of the present invention can adopt and slide or the rolling guide-rail pairs realization along the orbital motion on the base, and rolling guide (slide and slide rail) can instead be adorned.Spatially be the two arc-shaped rail radiuses that positive cross interlocks, the center of circle overlaps and be respectively R1 and R2, mainly by guideway version that adopts and size decision, the gyration that needs assurance two to drive arch does not interfere its difference.The platform shape variable, its size is relevant with the difference of R1 and R2.Two drive the power that encircles can adopt swing or rotary motive power source, realizes the transmission of motion through type of belt drive such as direct connection or gears.Two power sources directly are fixed on basic part (like base).Adopt structure optimization or other malformation or adjustment can realize the control (deflection angle can above 90 °) of two direction deflection angles.
The present invention is through reasonable structural design, and this platform can be realized around X axle and the yaw motion of Y axle both direction above 90 ° of angles.The parallelly connected two arcs arch that drives of power source that is disposed on the basic part (like base) is difference or deflection simultaneously on the track that positive cross is staggered, the center of circle overlaps in the space, thereby has realized the yaw motion of platform around X axle and Y axle.
It is the novel motion platform of a kind of concept structure that parallel connection of the present invention drives the bilateral deflection platform, and the parallel connection of two arcs drives arch and directly realized the bilateral deflection of platform around X axle and Y axle.Two drive the power source that encircles is fixed on basic part, and bearing capacity is directly passed to basic part; Two yaw motions are not coupled, and vibrate little; Kinematic error does not add up; Rotary inertia is little; Speed and precision all are improved.The development and Design that parallel connection drives tilt platform has real practical meaning in engineering.The application scenario of doing the two degrees of freedom yaw motion at needs can be achieved with the present invention.
Claims (2)
1. a parallel connection drives the bilateral deflection platform; It is characterized in that, comprise base (1) and bilateral deflection platform (7), base (1) upper surface is provided with the track a (2) and track b (3) that radius is respectively the circular arc of R1 and R2; Track a (2) and track b (3) vertical with the residing plane of base (1) upper surface respectively along the plane of living in of circular arc; Track a (2) and track b (3) vertical each other along the plane of living in of circular arc, track a (2) and track b (3) overlap and R1＞R2 along the center of circle of circular arc; The bottom surface of track a (2) is higher than the top edge of track b (3)
Track a (2) drives arch a (4) with the circular arc that adapts respectively with track b (3) and driving arch b (5) component movement is secondary, and the two ends that drive arch a (4) and driving arch b (5) all have pin shaft hole (6),
Bilateral deflection platform (7) side surface is equally spaced to be connected with 4 bearing pins (8) that adapt with pin shaft hole (6); Bilateral deflection platform (7) is connected with driving arch b (5) through 4 bearing pins (8), 4 connecting holes (6) and driving arch a (4), the interior circular diameter of the circumscribed circle diameter of bilateral deflection platform (7)≤driving arch b (5).
2. parallel connection according to claim 1 drives the bilateral deflection platform; It is characterized in that; Said base (1) upper surface is crosswise and is respectively arranged with 1 couple of boss a (9) and 1 couple of boss b (10); 2 boss a (9) are on the same straight line, and 2 boss b (10) are on the same straight line, and track a (2) and track b (3) are separately positioned on boss a (9) and boss b (10) upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210150749.5A CN102672475B (en) | 2012-05-15 | 2012-05-15 | Parallel driven bidirectional deflection platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210150749.5A CN102672475B (en) | 2012-05-15 | 2012-05-15 | Parallel driven bidirectional deflection platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102672475A true CN102672475A (en) | 2012-09-19 |
| CN102672475B CN102672475B (en) | 2014-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210150749.5A Expired - Fee Related CN102672475B (en) | 2012-05-15 | 2012-05-15 | Parallel driven bidirectional deflection platform |
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| CN (1) | CN102672475B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975196A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | Double-rotational freedom parallel mechanism |
| CN103753522A (en) * | 2014-02-21 | 2014-04-30 | 上海交通大学 | Two-degree-of-freedom rotary manipulator |
| CN104267033A (en) * | 2014-09-11 | 2015-01-07 | 苏州佳祺仕信息科技有限公司 | Inspection and detection device for surface properties of label |
| CN104316008A (en) * | 2014-10-21 | 2015-01-28 | 西安交通大学 | Blade profile measuring-aided device with adjustable postures |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN108202231A (en) * | 2018-03-16 | 2018-06-26 | 陕西理工大学 | A kind of workbench that can realize two-way simultaneous deflection angle |
| CN108255081A (en) * | 2017-12-20 | 2018-07-06 | 北京华航无线电测量研究所 | A kind of small servo revolving platform |
| CN110507515A (en) * | 2019-10-08 | 2019-11-29 | 中北大学 | A kind of easy medical robot for rehabilitation of anklebone device |
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| US1644437A (en) * | 1925-08-18 | 1927-10-04 | Bror M Lofquist | Die-sinker's vise |
| US1927675A (en) * | 1929-09-30 | 1933-09-19 | Jr George W Andrews | Work holding device |
| GB925299A (en) * | 1959-11-02 | 1963-05-08 | Egon Kirchner | Device for fine adjustment of machine parts |
| CN101832305A (en) * | 2010-04-28 | 2010-09-15 | 北京航空航天大学 | Rudder blade shaft follow-up two degree-of-freedom spherical hydraulic motor |
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- 2012-05-15 CN CN201210150749.5A patent/CN102672475B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1644437A (en) * | 1925-08-18 | 1927-10-04 | Bror M Lofquist | Die-sinker's vise |
| US1927675A (en) * | 1929-09-30 | 1933-09-19 | Jr George W Andrews | Work holding device |
| GB925299A (en) * | 1959-11-02 | 1963-05-08 | Egon Kirchner | Device for fine adjustment of machine parts |
| CN101832305A (en) * | 2010-04-28 | 2010-09-15 | 北京航空航天大学 | Rudder blade shaft follow-up two degree-of-freedom spherical hydraulic motor |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975196A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | Double-rotational freedom parallel mechanism |
| CN103753522A (en) * | 2014-02-21 | 2014-04-30 | 上海交通大学 | Two-degree-of-freedom rotary manipulator |
| CN103753522B (en) * | 2014-02-21 | 2016-10-05 | 上海交通大学 | Two-degree-of-freedorotary rotary manipulator |
| CN104267033A (en) * | 2014-09-11 | 2015-01-07 | 苏州佳祺仕信息科技有限公司 | Inspection and detection device for surface properties of label |
| CN104316008A (en) * | 2014-10-21 | 2015-01-28 | 西安交通大学 | Blade profile measuring-aided device with adjustable postures |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| CN108255081A (en) * | 2017-12-20 | 2018-07-06 | 北京华航无线电测量研究所 | A kind of small servo revolving platform |
| CN108255081B (en) * | 2017-12-20 | 2019-12-13 | 北京华航无线电测量研究所 | Small-size servo rotary platform |
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting device |
| CN108202231A (en) * | 2018-03-16 | 2018-06-26 | 陕西理工大学 | A kind of workbench that can realize two-way simultaneous deflection angle |
| CN110507515A (en) * | 2019-10-08 | 2019-11-29 | 中北大学 | A kind of easy medical robot for rehabilitation of anklebone device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102672475B (en) | 2014-11-26 |
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